2 papers
cs.RO2026
TimelyDAgger: Timing-Aware Expert Querying for VLA Policy Improvement
Zhixuan Zhao, Peiyan Li, Enhao Zhang +10
DAgger improves robot policies by aggregating expert supervision from states visited during policy execution. Robot-gated DAgger automates expert queries, allowing the robot to dec…
cs.RO2026
Beyond State-as-Action: Exploiting Command-State Discrepancy for Robot Imitation Learning
Peiyan Li, Yueran Tao, Enhao Zhang +10
Constructing action targets from measured robot motion is an established approach in imitation learning. Under interaction constraints, however, command-state discrepancy may refle…